Hiwin E1 Series User Manual

E1 Series Servo Drive User Manual Tuning
10-30 HIWIN MIKROSYSTEM CORP.
MD09UE01-1910
Table10.7.1.1
Parameter Pt109 Range 0 ~ 100
Control
Mode
Position mode
Default 0 Effective Immediately Unit 1%
Description
Feedforward
Table10.7.1.2
Parameter Pt10A Range 0 ~ 6400
Control
Mode
Position mode
Default 0 Effective Immediately Unit 0.01 ms
Description
Feedforward filter time constant
Note:
If feedforward is too large, the machine may vibrate. The setting value of feedforward must be under 80%.
10.7.2 Torque feedforward and velocity feedforward
Torque feedforward and velocity feedforward can shorten settling time. Torque feedforward and velocity
feedforward are set after position command is differentiated by controller.
 Torque feedforward
Torque feedforward can be used in velocity mode and position mode. Torque feedforward command
is input from controller with velocity command. Velocity command (V-REF) is input via CN6-14 and
CN6-15. Torque feedforward command (T-REF) is input via CN6-16 and CN6-17.
 Velocity feedforward
Velocity feedforward can only be used in position mode. Velocity feedforward command is input from
controller with position command. Velocity feedforward command (V-REF) is input via CN6-14 and
CN6-15.
 Setting related parameters
(1) Torque feedforward
Torque feedforward is set by torque control selection (using T-REF signal) (Pt002 = t. X),
torque command input gain (Pt400) and T-REF filter time constant. In default setting, Pt400 is
set to 30. Therefore, when torque feedforward is set to ±3 V, it is 100% of torque (rated torque).

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English